The drag is based on max_acc/max_vel, which means that increasing the
maximum velocity leads to slower braking (at the same starting speed).
Especially a combination of small max_acc (slow responsiveness) with high
max_vel led to an exceedingly high braking distance.
This improves that while still being smooth.
Previous horizontal position noise was a white Gaussian noise with std=0.8m
It results in a noise with high frequencies too high making some ekf
position tests fail (test ratio to allow arming).
The new noise values are below real GPS errors but as theses errors are
generally low frequency, so they cannot be modeled with a white noise.
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
- rename message wind_estimate to wind
- publish wind from currently used ekf instance (ekf2selector)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
It was for example possible that DSM got parsed, and in the next iteration
SBUS got parsed, leading to multiple PX4IO_P_STATUS_FLAGS_RC_ flags set.
input_rc::input_source was then incorrectly set to DSM.
Partially guarding was already done: if SBUS got parsed, DSM and others
were skipped.
The IO will still clear all PX4IO_P_STATUS_FLAGS_RC_* flags on RC loss.
We use the stabilize param to set the input. Like this the input flags
can be changed using the configure message later, and then eventually
used in the output.
This includes several changes to fix POI when used with MAVLink gimbal
v2 input:
- Correctly set capability flag that POI is supported.
- Keep lat/lon and calculate attitude on each cycle, instead of only
once on init.
- Always publish gimbal manager information, with or withoug gimbal v2
device.
We should be using gimbal_manager_information and not
gimbal_device_information. Plus, this updates the fields and flags
according to the MAVLink changes.
This should fix the case where AUX gimbals don't work anymore when
gimbal input is mavlink gimbal v2.
The fix is mostly to take care against NAN inputs.
This is a hotfix to restore gimbal functionality for SITL set-ups that
are set to MNT_MODE_IN 4 (gimbal protocol v2) but still need to accept
gimbal v1 commands that might be part of a mission, e.g. uploaded by
MAVSDK.
Daniel Agar